Vision-based object detection and recognition system for intelligent vehicles. - Bin Ran; Henry X. Liu; Wilfung Martono (Mobile Robots / Intelligent Transportation Systems, 1998)

A general MPCC model and its solution algorithm for continuous network design problem. - Xuegang (Jeff) Ban; Henry X. Liu; Michael C. Ferris; Bin Ran (Math. Comput. Model., 2006)

SMART-SIGNAL: Systematic Monitoring of Arterial Road Traffic Signals. - Henry X. Liu; Wenteng Ma; Heng Hu; Xinkai Wu; Guizhen Yu (ITSC, 2008)

Emergency Evacuation, Dynamic Transportation Models. - Yi-Chang Chiu; Henry X. Liu (Encyclopedia of GIS, 2008)

Optimal Sensor Locations for Freeway Bottleneck Identification. - Henry X. Liu; Adam Danczyk (Comput. Aided Civ. Infrastructure Eng., 2009)

Self-adaptive projection method for co-coercive variational inequalities. - Bingsheng He; Xiaozheng He 001; Henry X. Liu; Ting Wu (Eur. J. Oper. Res., 2009)

Solving a class of constrained 'black-box' inverse variational inequalities. - Bingsheng He; Xiaozheng He 001; Henry X. Liu (Eur. J. Oper. Res., 2010)

Numerical Studies on Reformulation Techniques for Continuous Network Design with Asymmetric User Equilibria. - Michael C. Ferris; Henry X. Liu (Int. J. Oper. Res. Inf. Syst., 2010)

A simple forward-backward procedure for real-time signal timing adjustment on oversaturated arterial networks. - Heng Hu; Xinkai Wu; Henry X. Liu (ITSC, 2011)

Inverse variational inequalities with projection-based solution methods. - Xiaozheng He 001; Henry X. Liu (Eur. J. Oper. Res., 2011)

An improved linearization technique for a class of quadratic 0-1 programming problems. - Xiaozheng He 001; Anthony Chen; Wanpracha Art Chaovalitwongse; Henry X. Liu (Optim. Lett., 2012)

New Dimensions of Intersection Control with Connected and Automated Vehicles. - Yiheng Feng; Weili Sun; Jianfeng Zheng; Henry X. Liu (CarSys@MobiCom, 2017)

An Adaptive Signal Control Scheme to Prevent Intersection Traffic Blockage. - Yilong Ren; Yunpeng Wang; Guizhen Yu; Henry X. Liu; Lin Xiao (IEEE Trans. Intell. Transp. Syst., 2017)

Emergency Evacuation, Dynamic Transportation Models. - Yi-Chang Chiu; Henry X. Liu (Encyclopedia of GIS, 2017)

An Augmented Reality Environment for Connected and Automated Vehicle Testing and Evaluation. - Yiheng Feng; Chunhui Yu; Shaobing Xu; Henry X. Liu; Huei Peng (Intelligent Vehicles Symposium, 2018)

Exposing Congestion Attack on Emerging Connected Vehicle based Traffic Signal Control. - Qi Alfred Chen; Yucheng Yin; Yiheng Feng; Z. Morley Mao; Henry X. Liu (NDSS, 2018)

Traffic state estimation using stochastic Lagrangian dynamics. - Fangfang Zheng; Saif Eddin Jabari; Henry X. Liu; DianChao Lin (CoRR, 2018)

Origin-destination Flow Prediction with Vehicle Trajectory Data and Semi-supervised Recurrent Neural Network. - Tao Huang; Yintai Ma; Zhiwei (Tony) Qin; Jianfeng Zheng; Henry X. Liu; Hongtu Zhu; Jieping Ye (IEEE BigData, 2019)

String stability for vehicular platoon control: Definitions and analysis methods. - Shuo Feng 002; Yi Zhang 029; Shengbo Eben Li; Zhong Cao; Henry X. Liu; Li Li 013 (Annu. Rev. Control., 2019)

Testing Scenario Library Generation for Connected and Automated Vehicles, Part II: Case Studies. - Shuo Feng 002; Yiheng Feng; Haowei Sun; Shao Bao; Aditi Misra; Yi Zhang 029; Henry X. Liu (CoRR, 2019)

A Similitude Theory for Modeling Traffic Flow Dynamics. - Xuan Di; Yan Zhao 011; Shihong Ed Huang; Henry X. Liu (IEEE Trans. Intell. Transp. Syst., 2019)

CVShield: Guarding Sensor Data in Connected Vehicle with Trusted Execution Environment. - Shengtuo Hu; Qi Alfred Chen; Jiwon Joung; Can Carlak; Yiheng Feng; Z. Morley Mao; Henry X. Liu (AutoSec@CODASPY, 2020)

Adaptive Testing Scenario Library Generation for Connected and Automated Vehicles. - Shuo Feng 002; Yiheng Feng; Haowei Sun; Yi Zhang 029; Henry X. Liu (CoRR, 2020)

Impact Evaluation of Falsified Data Attacks on Connected Vehicle Based Traffic Signal Control. - Shihong Ed Huang; Wai Wong; Yiheng Feng; Qi Alfred Chen; Z. Morley Mao; Henry X. Liu (CoRR, 2020)

A restricted path-based ridesharing user equilibrium. - Meng Li; Xuan Di; Henry X. Liu; Hai-Jun Huang (J. Intell. Transp. Syst., 2020)

Tube-Based Discrete Controller Design for Vehicle Platoons Subject to Disturbances and Saturation Constraints. - Shuo Feng 002; Haowei Sun; Yi Zhang 029; Jianfeng Zheng; Henry X. Liu; Li Li 013 (IEEE Trans. Control. Syst. Technol., 2020)

Cooperation of Multiple Connected Vehicles at Unsignalized Intersections: Distributed Observation, Optimization, and Control. - Yougang Bian; Shengbo Eben Li; Wei Ren 001; Jianqiang Wang 003; Keqiang Li; Henry X. Liu (IEEE Trans. Ind. Electron., 2020)

Cycle-Based End of Queue Estimation at Signalized Intersections Using Low-Penetration-Rate Vehicle Trajectories. - Han Zhang; Henry X. Liu; Peng Chen 021; Guizhen Yu; Yunpeng Wang (IEEE Trans. Intell. Transp. Syst., 2020)

A hierarchical behavior prediction framework at signalized intersections. - Zhen Yang 031; Rusheng Zhang; Henry X. Liu (ITSC, 2021)

Automated Discovery of Denial-of-Service Vulnerabilities in Connected Vehicle Protocols. - Shengtuo Hu; Qi Alfred Chen; Jiachen Sun; Yiheng Feng; Z. Morley Mao; Henry X. Liu (USENIX Security Symposium, 2021)

A Learning-based Stochastic Driving Model for Autonomous Vehicle Testing. - Lin Liu; Shuo Feng 002; Yiheng Feng; Xichan Zhu; Henry X. Liu (CoRR, 2021)

Corner Case Generation and Analysis for Safety Assessment of Autonomous Vehicles. - Haowei Sun; Shuo Feng 002; Xintao Yan; Henry X. Liu (CoRR, 2021)

A probabilistic model for missing traffic volume reconstruction based on data fusion. - Xintao Yan; Yan Zhao 011; Henry X. Liu (CoRR, 2021)

Testing Scenario Library Generation for Connected and Automated Vehicles, Part II: Case Studies. - Shuo Feng 002; Yiheng Feng; Haowei Sun; Shan Bao; Yi Zhang 029; Henry X. Liu (IEEE Trans. Intell. Transp. Syst., 2021)

Testing Scenario Library Generation for Connected and Automated Vehicles, Part I: Methodology. - Shuo Feng 002; Yiheng Feng; Chunhui Yu; Yi Zhang 029; Henry X. Liu (IEEE Trans. Intell. Transp. Syst., 2021)

Real-time Full-stack Traffic Scene Perception for Autonomous Driving with Roadside Cameras. - Zhengxia Zou; Rusheng Zhang; Shengyin Shen; Gaurav Pandey 004; Punarjay Chakravarty; Armin Parchami; Henry X. Liu (ICRA, 2022)

Adaptive Testing for Connected and Automated Vehicles with Sparse Control Variates in Overtaking Scenarios. - Jingxuan Yang; Honglin He; Yi Zhang 029; Shuo Feng 002; Henry X. Liu (ITSC, 2022)

"Curse of rarity" for autonomous vehicles. - Henry X. Liu; Shuo Feng 002 (CoRR, 2022)

Maximum Likelihood Estimation of Probe Vehicle Penetration Rates and Queue Length Distributions From Probe Vehicle Data. - Yan Zhao 011; Wai Wong; Jianfeng Zheng; Henry X. Liu (IEEE Trans. Intell. Transp. Syst., 2022)

Testing Scenario Library Generation for Connected and Automated Vehicles: An Adaptive Framework. - Shuo Feng 002; Yiheng Feng; Haowei Sun; Yi Zhang 029; Henry X. Liu (IEEE Trans. Intell. Transp. Syst., 2022)

On the Cybersecurity of Traffic Signal Control System With Connected Vehicles. - Yiheng Feng; Shihong Ed Huang; Wai Wong; Qi Alfred Chen; Z. Morley Mao; Henry X. Liu (IEEE Trans. Intell. Transp. Syst., 2022)

ROCO: A Roundabout Traffic Conflict Dataset. - Depu Meng; Owen Sayer; Rusheng Zhang; Shengyin Shen; Houqiang Li; Henry X. Liu (CoRR, 2023)

Robust Roadside Perception for Autonomous Driving: an Annotation-free Strategy with Synthesized Data. - Rusheng Zhang; Depu Meng; Lance Bassett; Shengyin Shen; Zhengxia Zou; Henry X. Liu (CoRR, 2023)

MSight: An Edge-Cloud Infrastructure-based Perception System for Connected Automated Vehicles. - Rusheng Zhang; Depu Meng; Shengyin Shen; Zhengxia Zou; Houqiang Li; Henry X. Liu (CoRR, 2023)

Anomaly Detection Against GPS Spoofing Attacks on Connected and Autonomous Vehicles Using Learning From Demonstration. - Zhen Yang 031; Jun Ying; Junjie Shen 001; Yiheng Feng; Qi Alfred Chen; Z. Morley Mao; Henry X. Liu (IEEE Trans. Intell. Transp. Syst., 2023)

Traffic signal control under stochastic traffic demand and vehicle turning via decentralized decomposition approaches. - Xinyu Fei; Xingmin Wang; Xian Yu; Yiheng Feng; Henry X. Liu; Siqian Shen; Yafeng Yin 001 (Eur. J. Oper. Res., 2023)

A Hierarchical Vehicle Behavior Prediction Framework With Traffic Signals and Interactive Agents. - Zhen Yang 031; Rusheng Zhang; Gaurav Pandey 004; Neda Masoud; Henry X. Liu (IEEE Trans. Intell. Transp. Syst., 2023)

Evaluating Roadside Perception for Autonomous Vehicles: Insights from Field Testing. - Rusheng Zhang; Depu Meng; Shengyin Shen; Tinghan Wang; Tai Karir; Michael Maile; Henry X. Liu (CoRR, 2024)

Traffic State Estimation and Uncertainty Quantification at Signalized Intersections with Low Penetration Rate Vehicle Trajectory Data. - Xingmin Wang; Zihao Wang; Zachary Jerome; Henry X. Liu (CoRR, 2024)

DECODE: Domain-aware Continual Domain Expansion for Motion Prediction. - Boqi Li 001; Haojie Zhu; Henry X. Liu (CoRR, 2024)

Preface of ISTTT 25 Special Issue. - Yafeng Yin 001; Henry X. Liu; Michael H. Zhang (Transp. Sci., 2024)

Adaptive Safety Evaluation for Connected and Automated Vehicles With Sparse Control Variates. - Jingxuan Yang; Haowei Sun; Honglin He; Yi Zhang 029; Henry X. Liu; Shuo Feng 002 (IEEE Trans. Intell. Transp. Syst., 2024)

Evaluation of Automated Driving System Safety Metrics With Logged Vehicle Trajectory Data. - Xintao Yan; Shuo Feng 002; David J. LeBlanc; Carol A. C. Flannagan; Henry X. Liu (IEEE Trans. Intell. Transp. Syst., 2024)

Robust Roadside Perception: An Automated Data Synthesis Pipeline Minimizing Human Annotation. - Rusheng Zhang; Depu Meng; Lance Bassett; Shengyin Shen; Zhengxia Zou; Henry X. Liu (IEEE Trans. Intell. Veh., 2024)

Adaptive green split optimization for traffic control with low penetration rate trajectory data. - Zihao Wang; Roger Lloret-Batlle; Jianfeng Zheng; Henry X. Liu (J. Intell. Transp. Syst., 2024)

TeraSim: Uncovering Unknown Unsafe Events for Autonomous Vehicles through Generative Simulation. - Haowei Sun; Xintao Yan; Zhijie Qiao; Haojie Zhu; Yihao Sun; Jiawei Wang; Shengyin Shen; Darian Hogue; Rajanikant Ananta; Derek Johnson; Gregory Stevens; Greg McGuire; et al. (CoRR, 2025)

Optimizing Mixed Traffic Flow: Longitudinal Control of Connected and Automated Vehicles to Mitigate Traffic Oscillations. - Can Liu; Fangfang Zheng; Henry X. Liu; Xiaobo Liu 002 (IEEE Trans. Intell. Transp. Syst., 2025)

Mcity Data Engine: Iterative Model Improvement Through Open-Vocabulary Data Selection. - Daniel Bogdoll; Rajanikant Patnaik Ananta; Abeyankar Giridharan; Isabel Moore; Gregory Stevens; Henry X. Liu (CoRR, 2025)

LightEMMA: Lightweight End-to-End Multimodal Model for Autonomous Driving. - Zhijie Qiao; Haowei Li; Zhong Cao; Henry X. Liu (CoRR, 2025)

RADE: Learning Risk-Adjustable Driving Environment via Multi-Agent Conditional Diffusion. - Jiawei Wang; Xintao Yan; Yao Mu 002; Haowei Sun; Zhong Cao; Henry X. Liu (CoRR, 2025)

Behavioral Safety Assessment towards Large-scale Deployment of Autonomous Vehicles. - Henry X. Liu; Xintao Yan; Haowei Sun; Tinghan Wang; Zhijie Qiao; Haojie Zhu; Shengyin Shen; Shuo Feng 002; Greg Stevens; Greg McGuire (CoRR, 2025)

Towards provable probabilistic safety for scalable embodied AI systems. - Linxuan He; Qing-Shan Jia; Ang Li; Hongyan Sang; Ling Wang 001; Jiwen Lu; Tao Zhang 033; Jie Zhou 001; Yi Zhang 029; Yisen Wang 001; Peng Wei; Zhongyuan Wang; et al. (CoRR, 2025)

Improving Traffic Signal Data Quality for the Waymo Open Motion Dataset. - Xintao Yan; Erdao Liang; Jiawei Wang; Haojie Zhu; Henry X. Liu (CoRR, 2025)

Distributionally Consistent Simulation of Naturalistic Driving Environment for Autonomous Vehicle Testing. - Xintao Yan; Shuo Feng 002; Haowei Sun; Henry X. Liu (IEEE Trans. Intell. Transp. Syst., 2025)

Imaginative World Modeling with Scene Graphs for Embodied Agent Navigation. - Yue Hu; Junzhe Wu; Ruihan Xu 003; Hang Liu; Avery Xi; Henry X. Liu; Ram Vasudevan; Maani Ghaffari (CoRR, 2025)